KR19990021948A - Capacitively coupled multi-axis data input device and method - Google Patents

Abstract

The capacitively connected six-axis joystick 320 includes a sensor electrode 310 having vertical pairs of slots 312 and 314, and flat circuit boards 302 and 304 complementarily embedded within the slots of the sensor electrode. A fixed electrode device 300 having a capacitor electrode C _S formed on three mutually orthogonal surfaces of 306 is used. When embedded together, the capacitor electrode is separated from the sensor electrode face by a distance along the rotational and translational movement of the sensor electrode with respect to the electrode device. The signal generator 352 and the address decoder 354 sequentially apply an AC signal to the capacitor electrode. The alternating signal is connected to the closest associated side of the sensor electrode to a degree that depends on the rotation- and translational induction intervals. The controller 350 detects and processes each connected signal voltage to determine the degree of deflection of the sensor electrode in the X-, Y-, Z-, rolling-, pitch-, and yaw-axis directions.

Description

Capacitively coupled multi-axis data input device and method

So far, performance improvements of computers and computer programs have led to the corresponding need for higher performance user input devices. Modern computer applications for word processing, data entry, three-dimensional mechanical design, aviation simulation, and consumer-oriented games all require data entry in multiple degrees of freedom (hereafter referred to as axis). However, conventional computer input devices such as joysticks, trackballs, graphics tablets, and mice are preferred for up to six axes in many applications, but their configuration is limited to two or three axes.

1 shows three mutually perpendicular translational axes of motion (hereinafter referred to as X-, Y-, and Z-axis) and three mutually perpendicular rotational motion axes (hereafter roll-axis, pitch ( six axes, referred to as pitch-axis and yaw-axis). Those skilled in the art will refer to clouds as angular rotation about the X axis, pitch as angular rotation about the Y axis, and yaw angle as angular rotation about the Z axis.

Joysticks typically use an operator handle that is positioned by a user that pivots about a fixed point to operate two mutually perpendicular potentiometers that produce respective X and Y axis data. In some joysticks, a spring is used to return the actuator handle to the center point. However, potentiometers have friction that causes irreparable data generation and makes the joystick difficult to zero.

As a result, some workers use optical encoders, switch arrays, piezoelectric transducers, strain gauges, capacitive connections, inductive connections and magnetic devices to avoid the electromechanical problems inherent in potentiometers. Unfortunately, some of them are too expensive for consumer-oriented data entry applications because they are configured with no additional axis of motion provided in any of the conventional devices provided, and others overly restrict the operation of the operator, resulting in user feeling. Worsens.

For example, like an optical encoder that produces angular X and Y axis data, a mouse typically uses a user positioning ball that rotates in a constrained bearing to frictionally rotate two mutually perpendicular devices. Since the mouse moves on a flat surface, only two axes of data are generated. However, the mouse typically includes at least one user operated button that can be used to change the operating mode of the mouse. For example, the translation data of the X and Y axes can be converted to rolling and pitch data when the button is pressed. Of course, the addition of a button does not change what the mouse is limited to working along only two axes at the same time. Moreover, bearing and frictional connections tend to be irregularly rotated caused by accumulated contaminants contaminated by balls from flat surfaces.

An example of a three axis input device is described in US Pat. No. 4,952,919 for a trackball mechanism. The trackball can be thought of as an inverted mouse that allows the user to directly manipulate the ball. In this particular trackball, the ball rolls in restraint bearings positioned to expose most of the ball surface area for user manipulation.

An example of a four-axis input device is a four-axis control device of model 426-G811 manufactured by Measurement Systems, Norwalk, Connecticut, USA. The four-axis control device is a potentiometer-based joystick, in which the actuator handle can move in the X, Y and Z axes and can rotate about the Z axis. Four axes of movement are connected to a potentiometer that produces X, Y and Z axis translation data and yaw angle rotation data. Of course, four-axis control devices are expensive and have the typical disadvantages associated with potentiometers and associated connection mechanisms.

What is needed is a cheap user input device that has a good user feel, senses more than four axes of movement applied to a single actuator handle, and generates and responds to accurate and repeatable input data.

The present invention relates to a computer data input device, and more particularly, to a device and a method in which the movement of a joystick can be sensed up to six degrees of freedom.

1 shows three mutually perpendicular translational axes and three mutually perpendicular axes of rotation;

2A is a plan view of an E-core used in an inductively connected two-axis joystick of the present invention.

FIG. 2B is a cross-sectional view taken along line 2B-2B of FIG. 2A showing a swash plate, a spring and a connecting coil of an inductively connected two-axis joystick of the present invention. FIG.

Fig. 2C is a plan view showing a generally circular shape of the swash plate of Fig. 2B.

3A is a plan view of an E-core used in an inductively connected three-axis joystick of the present invention.

FIG. 3B is a cross-sectional view of the E-core taken along line 3B-3B of FIG. 3A showing the swash plate, spring and connecting coil of the inductively connected three-axis joystick of the present invention. FIG.

FIG. 3C is a plan view showing generally cross-shaped form of the swash plate of FIG. 3B. FIG.

4A is a plan view of an E-core used in the first embodiment of the inductively connected six-axis joystick of the present invention.

4B is a cross-sectional view of the E-core taken along line 4B-4B of FIG. 4A, showing the swash plate, spring and connecting coil of the first embodiment of the inductively connected six-axis joystick of the present invention.

FIG. 4C is a plan view showing generally the cross-shaped form of the swash plate of FIG. 4B. FIG.

FIG. 5A is a plan view showing a second embodiment of the inductively connected six-axis joystick of FIG. 4 in which an E-core is replaced by a distributed inductor mounted on a circuit board. FIG.

5B is a cross-sectional view of the distributed inductor and circuit board taken along line 5B-5B of FIG. 5A, showing the swash plate and the spring of the second embodiment of the inductively connected six-axis joystick of the present invention.

FIG. 6A is a plan view illustrating another embodiment of the six-axis joystick of FIG. 5 with a distributed inductor replaced by a Hall-effect device and a permanent magnet mounted in a non-ferromagnetic swash plate. FIG.

FIG. 6B is taken along line 6B-6B of FIG. 6A, showing a Hall effect device, a permanent magnet, a swash plate and a circuit board, and further showing springs of another embodiment of the six-axis joystick of FIG. Cross-section.

FIG. 7 is a cross sectional view of the distributed inductor of the six-axis joystick of FIG. 5 with the spring replaced by a flexible diaphragm.

8 is a cross-sectional view of the distributed inductor of the six-axis joystick of FIG. 5 with the spring replaced by a rubber bladder.

9A is a top view of the distributed inductor embodiment of the six-axis joystick of FIG. 5 showing a swash plate mounted in a suspension cage suspended by a spring network in the housing.

9B is a cross-sectional view taken along line 9B-9B in FIG. 9A showing a swash plate mounted in a suspension cage, a housing, a spring network, and a distributed inductor mounted on a circuit board.

10 is a simplified block and circuit diagram illustrating an inductive connection embodiment of the inserted joystick controller of the present invention.

Fig. 11 is a perspective view of the electrode device used in the inductively connected embodiment of the six-axis joystick of the present invention.

12 is a perspective view of the sensor electrode device used in the capacitively connected embodiment of the six-axis joystick of the present invention.

13 is a plan view of the electrode device of FIG. 11 paired in an operating configuration with the sensor electrode of FIG. 12.

14 is a side view of the electrode device of FIG. 11 paired in an operating configuration with the sensor electrode of FIG. 12.

FIG. 15 shows capacitively the six-axis joystick of the present invention, showing the sensor electrode of FIG. 12 mounted in a fixed hemispherical dome and disassembled from the electrode arrangement of FIG. 11 and the deformable elastomeric ring. Side view of the connected embodiment.

Figure 16 is a simplified block and electrical circuit diagram showing a capacitively connected preferred embodiment of the inserted joystick controller of the present invention.

It is therefore an object of the present invention to provide a data input device and method of multiple axes and a single actuator.

An advantage of the present invention is to provide a multi-axis data input device and method for generating accurate and repeatable input data.

Another advantage of the present invention is to provide a multi-axis data input device with low friction and good user feel.

Another advantage of the present invention is to provide a cheap multi-axis data input device and method.

An inductively connected embodiment of a six-axis joystick is a thirteen-pole E-type comprising a central pole and four triple outer poles protruding from four orthogonally independent arms of the E-core. Use the core. The drive winding is wound around the central pole of the E-core and the sense winding is wound around each outer pole. The compression springs stop the swash ferromagnetic plates at about the same distance from the central pole and each outer pole. The user uses an actuator handle that axially and rotationally deflects the swash plate to estimate the changing distance from the central pole and each outer pole. The corresponding signal current is derived from the sense winding. Each signal current is proportional to the degree of magnetic flux flowing in the associated outer pole. The peak amplitude is detected for each signal current, and the difference between the peak amplitudes determines the degree of deflection of the swash plate in each of the X-, Y-, Z-, rolling-, pitch-, and yaw-axis directions. Used for.

In another embodiment, an E-core is replaced by a distributed inductor mounted on a circuit board, or in alternative embodiments, a Hall effect device that senses a permanent magnet attached to a non-ferromagnetic swash plate. Is replaced by In addition, the user's feeling can be improved by replacing the compression spring with a flexible diaphragm, a rubber bladder, or preferably a suspension cage.

A preferred embodiment of a capacitively connected six-axis joystick uses a detector electrode having a vertical pair of fixed electrode devices and a slot with capacitor electrodes formed on three mutually orthogonal surfaces of a flat circuit board, the flat circuit The substrate is sized and positioned so that it complementarily overlaps within the slot of the sensor electrode. When nested together, the capacitor electrodes are positioned away from the face of the sensor electrode by a distance that depends on the rotational and translational motion of the sensor electrode relative to the electrode device. An alternating voltage is selectively applied to the capacitor electrode and is thus closely connected to the associated side of the sensor electrode by a degree that depends on the rotational and translational induction intervals. In order to determine the degree of deflection of the sensor electrode in the X-, Y-, Z-, rolling-, pitch- and yaw-axis directions, the amplitude for each connected signal voltage is detected and processed. For inductively connected embodiments, by suspending the sensor electrodes by flexible diaphragms, rubber bladder, spring networks or preferably elastomeric rings, the user's feeling can be tailored to the particular application.

Additional objects and advantages of the present invention will become apparent from the following detailed description of the preferred embodiments with reference to the following figures.

2A-2C show four outer poles 36, 38 in an orthogonally independent pair, with five poles of an E-core 32 arranged around the center pole 34 and the center pole 34. And a biaxial joystick 30, including 40 and 42. The drive winding 44 is wound around the central pole 34 of the five pole E-core 32, and the sense windings 46, 48, and 52 are wrapped around each outer pole 36, 38, 40, and 42. Wound on

The swash plate 54 (FIG. 2C) has a bottom surface 58 of the swash plate 54 in an equilibrium position (shown in solid line in FIG. 2B) with the central pole 34 and the respective outer poles 36, 38,. It is an almost circular plate of ferromagnetic material suspended by compression spring 56 such that it is equidistant from 40 and 42. The actuator handle 60 is attached to the swash plate 54, through which the user deflects the swash plate 54 (eg as shown in the pitch-axis direction of the dotted line in FIG. 2B), thereby bottoming out. Allow the surface 58 to estimate the varying distance from the central pole 34 and each of the outer poles 36, 38, 40, and 42.

A driver (not shown) causes an alternating current to flow in the drive winding 44, thereby inducing magnetic flux corresponding to the central pole 34 and the swash plate 54. The magnetic flux induced in the swash plate 54 conducts through each outer pole 36, 38, 40 and 42 to an extent that depends on the spacing of each pole from the bottom surface 58 of the swash plate 54. do. Corresponding signal currents are induced in the sense windings 46, 48, 50, and 52. Each signal current is proportional to the amount of magnetic flux flowing to the associated pole. The peak amplitude is detected for each signal current, and the difference between the peak amplitudes is used to determine the degree of deflection of the swash plate 54 in, for example, the cloud- and pitch-axis directions.

Since the swash plate 54 is suspended by the compression spring 56, significant deflection of the swash plate 54 may also exist in the X- and Y-axis directions. However, the geometry of the biaxial joystick 30 prevents the factual detection of this deflection. Nevertheless, the deflection of the swash plate 54 in the Z-axis direction is easily determined from common mode signal components generated by opposing pairs of sense windings, such as sense windings 46 and 50. do. Therefore, the two-axis joystick 30 can be considered a three-axis joystick, and of course the signals related to the rolling- and pitch-axis can be easily converted to represent the X- and Y-axis translation of the actuator handle 60. Can be.

3A-3C show four outer poles 76, 78, 80 and 82 with seven poles of an E-core arranged around the center pole in a pair of orthogonally independent poles with the center pole 74. ), An offset outer pole 84 located between the outer poles 76 and 78, and an offset outer pole 86 located between the outer poles 80 and 82. . The drive winding 88 is wound around the center pole 74 of the seven pole E-core 72, and the sense windings 90, 92, 94, 96, 98 and 1000 are each outer pole 76, 78. , 80, 82, 84, and 86).

The swash plate 102 (FIG. 3C) has a bottom surface 106 of the swash plate 102 in an equilibrium position (shown in solid line in FIG. 3B) with the central pole 74 and the respective outer poles 76, 78, It is an almost cruciform plate of ferromagnetic material suspended by compression spring 104 such that it is equidistant from 80, 82, 84, and 86. The actuator handle 108 is attached to the swash plate 102, through which the user deflects the swash plate 102 in the axial and rotational directions (eg, as shown in the pitch-axis direction of the dashed line in FIG. 3B). As such, this allows the bottom surface 106 to estimate the varying distance from the central pole 74 and each outer pole.

As described with reference to the biaxial joystick 30, a driver (not shown) causes an alternating current to flow through the drive winding 88, thereby allowing the corresponding magnets in the central pole 74 and the swash plate 102. Allow flux to be derived. The magnetic flux induced in the swash plate 102 is dependent on the pitch- and rolling-axis induction spacing of each pole from the bottom surface 106 of the swash plate 102. 80 and 82, and through each offset outer pole 84 and 86 to a degree that depends from the yaw-axis axis-derived spacing of each pole from the bottom surface 106 of the swash plate 102. Corresponding signal currents are induced in the sense windings 90, 92, 94, 96 and 100. Each signal current is proportional to the degree of magnetic flux flowing to the associated outer pole. The peak amplitude is detected for each signal current, and the difference between the peak amplitudes is used to determine the degree of deflection of the swash plate 102 in the cloud-, pitch- and yaw axis directions, for example.

Since the swash plate 102 is suspended by the compression spring 104, significant deflection of the swash plate 102 can occur in the X- and Y-axis directions as well. However, the geometry of the three-axis joystick 70 contributes more to detecting the deflection of the axis of rotation. Nevertheless, as far as the biaxial joystick 30 (FIG. 2B) is concerned, the deflection of the swash plate 102 in the Z-axis direction is, for example, by opposing pairs of sense windings, such as windings 90 and 94. It is easily determined from the generated common mode signal component. Therefore, the three-axis joystick 70 can be considered a four-axis joystick, and of course the signals associated with the rolling- and pitch-axis are easily converted to represent the X- and Y-axis translational motion of the actuator handle 60.

4A-4C, fourteen orthogonal E-shaped cores 112 include a central pole 114, each of four independent orthogonal arms 124, 126, and 128 of the E-shaped core 112. And three pairs of four outer poles 116, 118, 120, and 122 arranged to protrude from the associated end of 130. {Each corresponding pole in the three pairs of four outer poles 116, 118, 120, and 122 are identified by a suffix (A, B, or C).} The drive winding 132 is 13 poles E-shaped Winding around the central pole 114 of the core 112, the 12 sense windings 134A-134C, 136A-134C, 138A-134C and 140A-134C (only 134A, 134B, 138A and 138C are shown) in three pairs. It is wound around each pole of the four outer poles 116, 118, 120 and 122 made up (each sense winding is identified by the associated pole suffix).

The swash plate 142 (FIG. 4C) is positioned so that the bottom surface 146 of the swash plate 142 is substantially equidistant from the central pole 114 and each outer pole in the equilibrium position (shown in solid line in FIG. 4B). , A substantially cruciform plate of ferromagnetic material suspended by the compression spring 144. The principal dimension of the swash plate 142 is slightly less than the corresponding size of the 13 poles of the E-shaped core 112, such that the face 147 is nearly aligned with the axial center of each outer pole in its equilibrium position. The size is determined (as shown by the dashed line in Fig. 4A) The actuator handle 148 is attached to the swash plate 142 through which the user (as shown by the dashed line, for example X- in Fig. 4B). Deflect the swash plate 142 in the axial and rotational directions, in the Z- and pitch-axis directions, thereby allowing the bottom surface 146 to estimate various distances from the central pole 114 and each outer pole. To help.

As described with reference to joysticks 30 and 70, a driver (not shown) causes an alternating current to flow through the drive winding 132, thereby allowing a magnetic field corresponding to the central pole 114 and the swash plate 142. Induce flux. The magnetic flux induced in the swash plate 142 is twelve angles, depending on the rotational and translational-axis induction spacing of the respective poles from the bottom surface 146 and the face 147 of the swash plate 142. Conducted through the outer pole. Corresponding signal currents are induced in the sense windings 134A-134C, 136A-136C, 138A-138C, and 140A-140C. Each signal current is proportional to the amount of magnetic flux flowing to the associated outer pole. The peak amplitude is detected for each signal current, and the difference between the peak amplitudes indicates the degree of deflection of the swash plate 142 in the X-, Y-, Z-, rolling-, pitch-, and yaw-axis directions. Used to determine.

Depending on the translation and rotational deflection of the swash plate 142, the configuration of the three pairs of outer poles 116, 118, 120, and 122 is relatively between the combination of the bottom surface 146, the face 147, and the outer pole. Since it causes a large gap difference, it is possible to generate 6-axis data.

The compression spring 144 allows the swash plate 142 to move freely through a large range of displacement, provides deflection resistance proportional to the displacement, returns the spring to its equilibrium position, and also provides six axes with fewer moving parts. It is possible to configure the joystick (110).

5A and 5B show another embodiment of a six-axis joystick, in which thirteen pole E-type cores 112 are replaced by distributed inductor arrays 160, 162, 164, and 166 mounted to a circuit board 168. Shows. Each inductor array includes a drive inductor D surrounded by sense inductors A, B, and C, which sense functionally corresponds to the position of the outer pole of the 13 pole E-type core 112. Are arranged in position. Each inductor is an element with commercially available 220 H (Henry) axial leads.

5A shows a cross (dotted line) swash plate 169 made of ferromagnetic material, preferably iron. The swash plate 169 is sized to cover approximately the center of the sense inductors 160A-160C, 162A-162C, 164A-164C, and 166A-166C. In the embodiment of FIG. 5, each cruciform arm of the swash plate 169 has a distance between the ends of 3.75 cm, a width of about 0.5 cm, and a thickness of 1.6 mm. In the equilibrium position shown in FIG. 5B, the swash plate 169 is suspended over a gap of 0.5 to 2.0 cm above the distributed inductors 160, 162, 164 and 166.

As will be described below with reference to FIG. 10, the driver causes alternating current to flow sequentially into the driver inductors 160D, 162D, 164D and 166D, thereby providing a magnetic field corresponding to each arm of the swash plate 169. Induce flux. The magnetic flux induced in the swash plate 142 is dependent on the rotational and translational induction spacing of each distributed inductor from the swash plate 169, so that the 12 sense inductors 16A-160C, 162A-162C, 164A Through -164C and 166A-166C), respectively, to induce a signal current therein. The peak amplitude is detected for each signal current, and the difference between the peak amplitudes indicates the degree of deflection of the swash plate 142 in the X-, Y-, Z-, rolling-, pitch-, and yaw-axis directions. Used to determine.

6A and 6B illustrate a six-axis joystick, in which thirteen-pole E-shaped core 112 is replaced by Hall-effect detector arrays 170, 172, 174 and 176 mounted to a circuit board 178. The embodiment of 2 is shown. Each Hall-effect detector arrangement includes individual Hall-effect detectors A, B and C, arranged at a position that functionally corresponds to the position of the outer pole of the thirteen poles E-shaped core 112. Any type of swash plate 180 (an example of a cross is shown in FIG. 6A) is provided with permanent magnets 182, 184, 186 and 188 in an equilibrium position (shown in FIG. 6B). The plates of non-ferromagnetic material are inserted with permanent magnets 182, 184, 186 and 188 so as to be substantially equidistant from the associated Hall-effect detectors A, B and C in 172, 174 and 176. In operation, the permanent magnets 182, 184, 186, and 188 functionally replace the drive winding 132, and the Hall-effect detector arrangements 170, 172, 174, and 176 are functionally three pairs of outer poles ( 116, 118, 120, and 122).

Hall-effect sensing embodiments are less sensitive to displacement of actuator handle 148 than inductive sensing embodiments, but may be more suitable for use in certain applications.

FIG. 8 shows a second alternative embodiment of the six-axis joystick 11 of FIG. 7 in which the flexible diaphragm 200 has been replaced with a rubber bladder 210. Further advantages of the rubber bladder 210 include improved vertical stability that prevents sagging of the swash plate 142 towards the circuit board 168 and alteration of the expansion pressure of the rubber bladder 210. By which the user feel is adjustable.

9A and 9B show another embodiment of the six-axis joystick of FIG. 7 in which the flexible diaphragm 200 is replaced by a suspension cage 220 suspended by four spring sets within the housing 222. do.

Suspension cage 220 includes a substantially circular top plate 226, which is firmly positioned away from a substantially circular ring 230 that is open at the bottom by a spacer device. The collar 206 is such that the swash plate 169 is located substantially along the centerline 232 of the suspension cage 220 (at an equidistant distance between the top plate 226 and the bottom open ring 230). Secure handle 148 to top plate 226.

The circuit board 168 passes through the ring 230 with the bottom open by a pedestal 236 that separates the distributed inductor arrays 160, 162, 164, and 166 from the swash plate 169 by a suitable distance. Suspended firmly on top of bottom 234.

Each spring set 224 includes an upper spring 224A and a lower spring 224B. Each top spring 224A is located between one of the four mounting holes 238A in the top plate 226 and a corresponding one of the four mounting brackets 240 located along the centerline 232 on the housing 222. Mechanically suspended. Likewise, each lower spring 224B is mechanically suspended between one of the four mounting holes 238B in the bottom open ring 230 and the corresponding one of the four mounting brackets 240. The mounting hole 238 is preferably located adjacent to the spacer device 228. The spacing between the suspension cage 220 and the housing 222 is configured such that each top spring 224A is nearly orthogonal to the well associated bottom spring 224B. Moreover, each of the four sets of springs 224 is positioned about 90 degrees away from each other around the top plate 226, the bottom open ring 230, and the housing 222.

Advantages of suspension cage 220 include improved separation of translational and rotational displacements, equidistant position and improved stability of return to this position and improved mechanical strength. It is contemplated that further improvements may be realized by replacing the spring set 224 with a flexible diaphragm or rubber bladder that extends horizontally into the support ring in the housing 222.

FIG. 10 shows an inserted joystick controller 250 suitable for use with the inductively connected six-axis joystick 110 of FIGS. 5A and 5B. In order to access the information stored in the 27C256 type read only memory (ROM) 258 and to access the information in the 62256 type random access memory (RAM) 260, the MC68HC11 type microprocessor 252 manufactured by Motorola Corporation has a 74HC138 type address decoder. PAL 254 and 74HC573 type address latch 256 are interconnected in a conventional manner.

The program stored in the RAM 260 is each drive in which the coil drivers 264A, 264B, 264C, and 264D (collectively the coil driver 264) each connect the magnetic flux to the corresponding arm of the swash plate 169. To sequentially drive inductors 160D, 162D, 164D, and 166D, causes microprocessor 252 to sequentially provide 100 μs of 100 μs duration energy to driver bus 262. Each coil driver 264 includes a 2N3904 transistor 266, the base of which is driven by the driver bus 262 through a 1 kΩ resistor 268, and the emitter through a 100 Ω resistor 270. Drives one of the driver inductors 160D, 162D, 164D, and 166D. The associated sets of sense inductors 160A-160C, 162A-162C, 164A-164C, and 166A-166 receive magnetic flux of 100 μs by sequentially inductively connecting from the swash plate 169. Of course, each sense inductor The degree of inductive connection for and the final signal current flowing through each sense inductor depends on the distance from the swash plate 169.

During each 100 μs period, the microprocessor 252 may provide a three bit multiplexing address on the sampling bus 272 that causes a pair of LF13508 multiplexers 274A and 274B to sample the sense inductors sequentially during the 15 μs period. do. Multiplexer 274A samples sense inductors 160A-160C and 162A-162C, and multiplexer 274B samples sense inductors 164A-164C and 166A-166C simultaneously.

Multiplexers 274A and 274B provide their 15 μs signal current samples to substantially the same amplifier / detector / filter circuits 276A and 276B. (Because of the similarity of circuits 276A and 276B, FIG. 10 shows in detail the electrical components of circuit 276A only.) Each signal current sample is signaled by an operational amplifier 278 having a closed loop gain of about 1000 degrees. Converted to voltage. Peak detector 280 and inverting amplifier 282 provide a peak voltage for each sample, which is subsequently filtered by a two-pole active filter 284, which has a resistance of 100 kΩ ( 286) and two RC filters configured in series with 0.1 μF capacitor 288. The final filtered peak signal voltage is connected to the inputs 290 and 292 of the 8-bit analog-to-digital converter of the microprocessor 252 for further processing.

Another process involves the use of digitized peak voltage samples for each sense inductor as the address of a lookup table stored in ROM 258, where the lookup table is at a distance between the swash plate 169 and the particular sense inductor sampled. Return the corresponding value. The returned value is determined by the algorithm, or preferably by the secondary lookup table, the orientation of the X-, Y-, Z-, rolling-, pitch-, and yaw-axis axes of the swash plate 169. The spatial orientation data represented is collectively processed.

The spatial orientation data is transmitted by the MAX232 RS-232 communication controller 294 to a user device such as a personal computer.

11 shows an electrode for a six-axis capacitively connected joystick embodiment in which four capacitor electrodes C _A , C _B , C _C and C _D are etched to the top surface of a circular flat circuit board 302. The apparatus 300 is shown. The electrode device 300 is etched on opposite surfaces of a flat circuit board 304 mounted perpendicular to the circuit board 302 such that the circuit boards 302, 304 and 306 are well perpendicular to each other. Two capacitor electrodes C _E and C _F and two capacitor electrodes C _G and C _H etched on opposite surfaces of the flat circuit board 306 mounted perpendicular to the circuit boards 302 and 304. Include. The circuit boards 304 and 306 are preferably double sided substrates having a conductive ground plane located on the side opposite the capacitor electrodes C _E , C _F , C _G and C _H.

FIG. 12 shows a sensor electrode 310 formed of an electrically conductive, nearly circular body having a diameter range of about 2.54 to 5.0 cm, preferably 3.8 cm. Optionally, the sensor electrode may be formed of a nonconductive material having an electrically conductive coating. The pair of slots 312 and 314 are constructed such that the detector electrodes have end faces F _A , F _B , F _C and F _D and slot faces F _E , F _F , F _G and F _H. At the ends are formed perpendicular to each other. Slots 312 and 314 have a width in the range of 0.64 to 1.27 cm and a depth in the range of 1.9 to 3.2 cm, but preferably have a width of 0.95 cm and a depth of 2.54 cm. 12 shows the sensor electrode 310 inverted from the normal operating orientation.

As shown in FIGS. 13 (top view) and 14 (side view), the circuit boards 304 and 306 of the electrode device 300 are complementarily embedded in the slots 312 and 314 of the sensor electrode 310 ( 12, the size and position of the slots 312 and 314 are determined. When embedded together in the equilibrium positions shown in FIGS. 13 and 14, the capacitor electrodes C _A , C _B , C _C , C _D , C _E , C _F , C _G and C _{H of the} electrode device 300 are It is located approximately equally away from each end face F _A , F _B , F _C and F _D and the slot face F _E , F _F , F _G and F _H. Of course, the movement sensing electrode 310 for the electrode device 300 causes a detectable change in rotational axis and translational-axis induction spacing between each capacitor electrode and the closest face on the sensor electrode 310.

The capacitor electrode is preferably disk-shaped and has a small diameter compared to the size of the face on the sensor electrode 310 so as to have minimal sensitivity to parallel operation between each capacitor electrode and the face. The capacitor electrode is preferably disk-shaped and has a diameter of 0.64 cm, but a wide range of other shapes and sizes are also operable. The change in the spacing of the electrode-sensor surface is detected and calculated as described with reference to FIG.

15 shows a capacitively connected six-axis joystick 320 (hereafter simply a joystick 320) with a sensor electrode 310 attached to one end of the actuator handle 322 and a handle 324 attached to the other end. A preferred embodiment). The sensor electrode 310 can be suspended with respect to the electrode device 300 by any of the springs, diaphragms or bladder described above.

However, the actuator handle 322 and thus the sensor electrode 310 are fixed with an inner circumferential mounting surface 328 bonded to the contact surface 329 of the elastomeric ring 330 by a flexible adhesive. It is attached in hemispherical cover 326. In a similar manner, the elastomeric ring 330 is bonded to the fixed circular base plate 332. The elastomeric ring 330 provides a flexible suspension for the sensor electrode 310 and also acts as a housing for the electrode device 300.

The electrode device 300 is mounted slightly above the base plate 332 by the spacer device 336. An electronic element 338 associated with the inserted controller (described with reference to FIG. 16) is mounted to the bottom of the circuit board 302 in the space between the base plate 332 and the circuit board 302.

In order to emphasize and clarify the electrical interconnection of components that are physically independent of the clearance of the device, the hemispherical cover 326 and the sensor electrode 310 are different from the electrode device 300 and the elastomeric ring 330. Shown independently. As described above, the hemispherical cover 326 is normally bonded to the contact surface 329 on the elastomeric ring 330 at the outer circumferential mounting surface 328. When normally in contact, the hemispherical cover 326 complements the sensor electrode 310 in the electrode device 300 in the equilibrium position, as shown in FIGS. 12 and 14. The actuator handle 322 enables further positioning of the detector electrode 310 relative to the electrode device 300.

The hemispherical cover 326 includes an electrically conductive inner surface 340 connected to the ground associated with the electrode device 300 by a flexible line 342 and a base plate that electrostatically shields the joystick 320. 332). The flexible line 344 electrically connects the sensor electrode 310 and the inserted controller to provide a signal related to the electrode-sensor interval that is detected and calculated as described with reference to FIG. 16.

In consideration of the user's feeling, the combination of the hemispherical cover 326 and the elastomeric ring 330 provides the actuator handle 322 with improved bearing capacity in the + Z-axis direction relative to the mass of the sensor electrode 310. do. Moreover, the deflection of the actuator handle 322 is subjected to a resistance proportional to the displacement. As a biasing force is applied to the handle 324, the hemispherical sheath 326 applies compressive, tensile and shear strain stresses to the elastomeric ring 330, which causes little friction, but in an equilibrium position. Provides a damped return force. The user's feeling can be adjusted for a particular application by selecting a suitable combination of elastomeric material, porosity, thickness, durometer, diameter, and height for the elastomeric ring 330.

Other advantages of using the elastomeric ring 330 for the joystick 320 include fabrication possibilities (easily die cut from parts of two-dimensional materials), improved reliability due to very few moving parts, and Reduced cost, a simple joystick device, separation (enclosure) of internal elements from external dust, dirt and contaminants, and sensing of relatively large displacement of the sensor electrode 310 relative to the electrode device 300.

FIG. 16 illustrates an inserted joystick controller 350 suitable for use with the joystick 320 of FIG. 15. The signal generator 352 applies an alternating signal, preferably a 12 V square wave signal at 8,192 kHz to the inhibitor input of the address decoder 354. The AC signal is preferably branched without being affected by the digital clock signal and the converted level. Although the upper audio frequency range is preferred to optimize the connection while minimizing the effects of static capacitance effects and electromagnetic radiation, a wide range of other frequencies, waveforms, and amplitudes are also operable in the present invention.

The microprocessor 356 controls the three address inputs A1, A2, and A3 of the address decoder 354 to multiplex the square wave signal to the eight outputs Q0 to Q7 of the address decoder 254. Outputs Q0 to Q7 are electrically connected to each capacitor electrode C _A , C _B , C _C , C _D , C _E , C _F , C _G and C _H of electrode device 300, the electrode device Each sequentially receives a square wave signal for a predetermined period of about 12 ms. Of course, a wide range of time periods can be operated that are long enough to effectively measure the connected signal but short enough to provide real time measurement of the connected signal.

The associated end faces F _A , F _B , F _C, and F _D of the detector electrode 310 and the slot faces F _E , F _F , F _G, and F _H , respectively, correspond to the corresponding capacitor electrode on the electrode device 300. Receive a connected amount of square wave signal that depends on the rotational and translational-axis induction interval for.

The interval is determined by the controller 350 based on the following relationship.

The capacitance C _s (pF) for the parallel electrode capacitor is represented by the following equation.

Where A is the area of the electrode (cm ² ), e is the permittivity (1.0 for air), and D is the spacing between the capacitor electrodes (inch = 2.54 cm).

Since all the calculators in Equation 1 are constants, Cs can be simplified as follows.

Where K = 0.2244 Ae.

The reactance Z _S of any capacitor C _s is expressed as follows.

Where F is the frequency.

When C _S in Expression 3 is replaced with K / D in Expression 2, the following expression is obtained.

This indicates that the reactance of the capacitors of the parallel plates is directly proportional to the spacing D between the capacitor electrodes.

Capacitor electrodes C _A , C _B , C _C , C _D , C _E , C _F , C _G and C _{H of} electrode device 300, and associated end faces F _A , F _B of detector electrode 310 For capacitors formed by, F _C and F _D ) and slot faces F _E , F _F , F _G and F _H , A is equal to the reactance of the capacitor formed between C _A and F _A , and B is C Assuming that the reactance of the capacitor formed between _B and F _B is equal to ..., H is equal to the reactance of the capacitor formed between C _H and F _H , an interval representing six degrees of freedom is expressed by the following equation.

Xt = E-F

Yt = G-H

Zt = A + B + C + D

Xr = (A + D)-(B-C)

Yr = (C + D)-(A + B)

Zr = (G + H) + (E + F)

Here, Xt, Yt, and Zt represent translational movements along the X-, Y- and X-axes, and Xr, Yr and Zr represent rotational movements about the X-, Y- and Z-axes.

The detector electrode 310 is electrically common to all faces F _A to F _H and electrically connected to a 1000 pF capacitor 358 that is grounded at one end. As described above, the capacitor electrodes C _A , C _B , C _C , C _D , C _E , C _F , C _G and C _H of the electrode device 300 sequentially receive square wave signals, where the selection The non-capacitor electrode maintains the ground potential so that no charge is applied to the capacitor 358. The capacitance value, depending on the spacing of the selected sense capacitors, ranges from approximately 0.03 pF to 0.12 pF. The value of 1,000 pF of the capacitor 358 is preferably configured to be relatively larger than the value of the sense capacitor, in order to minimize the idle capacitance effect. Of course, the capacitor 358 may have a wide range of values.

The input voltage Ein across the capacitor 358 is represented by the following equation.

Where Eg is the magnitude of the square wave signal, Cs is the value of the selected sense capacitor, and C 358 is the value of capacitor 358.

However, since C 358 is much larger than C _S , an approximate equation is obtained as shown in Equation (6).

Substituting C _S in Equation 7 with K / D in Equation 2, the following equation is obtained.

The final input voltage Ein is typically in the range of approximately 0.6 to 2.4 mV and is inversely proportional to the capacitor spacing D.

Input voltage Ein is applied to series pairs 360 and 362 of an AC connected amplifier with feedback networks 364 and 366 exhibiting a combined gain of about 3,000 at 8,192 Hz, resulting in an output voltage in the range of 1.8 to 7.2 V. Cause (Eout). The output voltage Eout is peaked by the diode 368 and filtered by the RC filter network 370 to eliminate significant ripple.

The DC output DCout at which the last peak is detected is proportional to the value of the selected detector capacitor Cs. However, since the value of Cs is inversely proportional to the electrode spacing (Equation 2), DCout is inversely inversely proportional to the electrode spacing.

Therefore, microprocessor 356 is programmed to perform the following functions:

Selecting which detector capacitors C _A to C _H are to be measured by addressing the address decoder,

Performing an analog-to-digital conversion of DCout for the selected detector capacitor (Cs),

Correct the digitized value of DCout for the forward voltage drop of diode 368,

-Calculate the detector capacitor spacing and save the result,

Repeat the above steps for each of the other detector capacitors,

Calculating three translations and three rotation sets of position data for the sensor electrode 310, relative to the electrode device 300, and

Communicating a set of location data to personal computers and other suitable devices by using an appropriate data communication format such as RS-232.

Those skilled in the art will appreciate that the present invention may be practiced otherwise than as described above. For example, the actuator handle or handle may be in the form of a T-bar, a trigger grip handle or a knob-topped handle. The joystick may include added buttons and / or switches. Moreover, the actuator handle can rotate freely or under friction in the yaw-axis direction, with or without an independent spring returning to equilibrium.

The X-, Y-, X-, cloud-, pitch- and yaw-axis designations used in the present invention are similar to those used in aircraft, and the conventions and orientations of other axes are possible for the present invention.

The physical dimensions, sizes, shapes, and spacings described can vary widely to suit the needs of a particular application.

Similarly, the inserted controller does not need to be inserted, can use conversions other than 8-bit analog-to-digital conversions, can be programmed to provide axis rate output data, and to perform various described functions. Various combinations of elements and element values and equivalent analog and digital circuits can be used. Of course, many other combinations of multiplexing, scanning, and sampling of frequencies can be used to achieve substantially the same results.

Although the idle signal and capacitance can be accurately reduced, the sensor electrode 310 can be driven by the signal generator 352 and the capacitor electrodes C _A to C _H.

The sensor electrode 310 may include a shield to reduce sensitivity to an external electric field and simplify the controller 350 and associated circuitry.

Additional capacitor electrodes can be used to add margin and accuracy to the calculation of electrode spacing.

The hemispherical sheath 326 and elastomeric ring 330 may be used in any joystick embodiment as a compression spring, diaphragm, bladder or spring suspension technique.

The controller 350 of FIG. 16 may optionally use the driving, multiplexing, filtering, lookup tables, and other techniques used by the controller 250 of FIG. 10, and the controller 250 may also be used in the controller 350. Technology can be used selectively. For example, the signal generated by the signal generator 352 can be derived from the logic signal generated by the microprocessor 356. The signal can of course have a wide range of arbitrary amplitudes and frequencies suitable for a particular application.

Finally, the RS-232 communication controller can be integrated into the microprocessor 356 or various interconnections, including parallel interfaces, network controllers, current loop wiring, twisted pairs of wiring, optical-fiber connections, and infrared connections. It can be replaced by one of the connection techniques.

Those skilled in the art will recognize that many changes can be made in the above-described embodiments without departing from the core principles of the invention. Thus, the present invention can be applied to other data input applications as well as computers. Therefore, the scope of the present invention is determined by the appended claims.

Claims (27)

In a multi-axis data input device, A signal source for generating an electrical signal, An electrode device having multiple electrodes connected to the electrical signal, A detector electrode having multiple faces each adjacent to an associated electrode of the electrode device; Directing the sensor electrode in at least four predetermined axial directions for the electrode device such that each side receives an amount of electrical signal that depends on an orientation induced spacing between each face and its associated electrode. Positioning means, each positioning means providing a signal amplitude in accordance with the amount of the electrical signal received; And a controller for receiving and processing the signal amplitude and for generating spacing data related to azimuth-inducing spacing between each face and its associated electrode. The method of claim 1, wherein the predetermined number for the axes is at least four, and wherein the at least four axes are an X-translation axis, a Y-translation axis, a Z-translation axis, a roll-axis. And a pitch-axis, and yaw-axis. The method of claim 1, wherein the predetermined number with respect to the axis is six, wherein the six axes comprise an X-translation axis, a Y-translation axis, a Z-translation axis, a rolling-axis, a pitch-axis, and a yaw angle-axis. Multi-axis data input device, characterized in that. The multi-axis data input device according to claim 1, wherein the signal source generates an alternating current electrical signal electrically connected to the multiple electrodes in sequence. 2. The electrode arrangement of claim 1, wherein the electrode arrangement comprises mutually orthogonal electrodes, wherein the mutually orthogonal electrodes, together with the associated faces of the detector electrodes, are such that each capacitor electrode is separated from the associated detector electrode face by an azimuth-induced spacing. And a pair of mutually orthogonal capacitor electrodes positioned thereon. 6. A multi-axis data input device according to claim 5, wherein each electrode has a major axis size that is substantially less than the size of the corresponding major axis of the associated sensor electrode face. 2. The method of claim 1, wherein the controller adjusts the signal amplitude to generate the interval data such that an amplifier, peak detector, filter, analog-to-digital converter, and microprocessor process the adjusted signal amplitude. Multi-axis data input device. 8. The microprocessor of claim 7, wherein the microprocessor further processes the interval data to calculate spatial orientation data related to orientation in each of a predetermined number of axes of the electrode device relative to the sensor electrode. Multi-axis data input device. 2. The apparatus of claim 1, wherein the controller processes signal amplitudes for peak detectors, filters, and analog-to-digital converters to produce the interval data associated with each of the signal amplitudes. And using said spacing data to access a lookup table that returns information for generating spatial orientation data. The controller of claim 1, wherein by using a common mode signal derived from the signal amplitude used to generate the spacing data for at least one of a cloud-axis and a pitch-axis. A multi-axis data input device, characterized in that for generating the orientation data. The multi-axis data input device of claim 1, wherein the sensor electrode is formed from at least one of an electrically conductive material and a non-conductive material covered with the electrically conductive material. The multi-axis data input device of claim 1, wherein the sensor electrode is included in an electrically conductive shield that reduces the sensitivity of the multi-sided surface to an external electric field. 2. The multi-axis data input device according to claim 1, wherein said positioning means comprises suspension means operative to position said detector electrode at an equilibrium position with respect to said electrode device. 14. Multi-axis data according to claim 13, wherein the suspension means comprises at least one of a compression spring, a flexible diaphragm, a bladder, a spring network and an elastomeric ring. Input device. The method of claim 1, wherein the positioning means comprises an elastomeric ring for applying a biasing force to the sensor electrode suspending the sensor electrode at an equilibrium position with respect to the electrode device. Multi-axis data input device. 16. The elastomeric ring of claim 15, wherein the sensor electrode is attached to the elastomeric ring by a fixed hemispherical dome that facilitates positioning the sensor electrode in at least six predetermined axial directions relative to the electrode device. Multi-axis data input device, characterized in that connected. 16. The multi-axis data input device of claim 15, wherein the biasing force is proportional to the deformation of the elastomeric ring at at least one of compressive stress, tensile stress, and shear strain stress. 16. The multi-axis data input device of claim 15 wherein the elastomeric ring provides little frictional and nearly damped positioning of the sensor electrode with respect to the electrode device. The elastomeric ring of claim 1, wherein the positioning means suspends the sensor electrode relative to the electrode device and separates the sensor electrode and the electrode device from at least one of dust, dirt, contaminants, and an electric field. Multi-axis data input device comprising a. In the method for generating spatial orientation data in a multi-axis data input device, Providing an electrical signal source, Connecting an electrode device having multiple electrodes to said electrical signal, Mounting a detector electrode with multiple sides such that each side is close to the corresponding electrode of the electrode device; The sensor electrode to the electrode device such that each face providing a signal amplitude in accordance with the amount of the electrical signal received receives an amount of electrical signal that depends on azimuth-induced spacing between each face and its associated electrode. Facing at least four predetermined axial directions for, Processing the signal amplitude to produce spacing data related to azimuth-inducing spacing between each face and its associated electrode; And calculating spatial orientation data from the interval data. 21. The method of claim 20, wherein the predetermined number of axes is selected from the group consisting of X- and Y-translation axes, Z-translation axes, rolling-axis, pitch-axis, and yaw-axis. A method for generating spatial orientation data in a multi-axis data input device. 21. The method of claim 20, further comprising capacitively connecting the sensor electrode to the electrodes. 21. The method of claim 20, wherein the sensor electrode has at least three mutually orthogonal faces, and the multi-electrode is positioned so that each capacitor electrode is separated from the associated face of the sensor electrode by the orientation-induced spacing. A mutually orthogonal capacitor electrode, wherein the processing step, Sampling the signal amplitude sequentially; Detecting the peak amplitude of each of the sequentially sampled signal amplitudes; And converting the peak amplitude of each of said sequentially sampled signal amplitudes into said interval data. 21. The multi-axis data input of claim 20, further comprising suspending the sensor electrode at an equilibrium position and providing a return force that acts to position the sensor electrode at the equilibrium position. How to generate spatial orientation data on the device. 25. The space in a multi-axis data input device according to claim 24, wherein said suspending is performed by at least one of a compression spring, a flexible barrier, a bladder, a spring network, and an elastomeric lee. To generate positive bearing data. 25. The method of claim 24, wherein the suspending is performed by an elastomeric ring that transmits a biasing force to the sensor electrode, wherein the biasing force places the sensor electrode in an equilibrium position with respect to the electrode device. A method of generating spatial orientation data in a multi-axis data input device, characterized in that it acts to suspend. 27. The elastomeric ring of claim 26, wherein the sensor electrode is mechanically connected to the elastomeric ring by a fixed hemispherical cover that facilitates directing the sensor electrode in at least six predetermined axial directions relative to the electrode device. And generating spatial orientation data in a multi-axis data input device.